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일차 다개체 시스템의 그룹 평균 상태일치와 그룹 대형 상태일치
김재만(Jae Man Kim),박진배(Jin Bae Park),최윤호(Yoon Ho Choi) 제어로봇시스템학회 2014 제어·로봇·시스템학회 논문지 Vol.20 No.12
This paper investigates the group average-consensus and group formation-consensus problems for first-order multi-agent systems. The control protocol for group consensus is designed by considering the positive adjacency elements. Since each intra-group Laplacian matrix cannot be satisfied with the in-degree balance because of the positive adjacency elements between groups, we decompose the Laplacian matrix into an intra-group Laplacian matrix and an inter-group Laplacian matrix. Moreover, average matrices are used in the control protocol to analyze the stability of multi-agent systems with a fixed and undirected communication topology. Using the graph theory and the Lyapunov functional, stability analysis is performed for group average-consensus and group formation-consensus, respectively. Finally, some simulation results are presented to validate the effectiveness of the proposed control protocol for group consensus.
Jae Man Kim(김재만),Yoon Ho Choi(최윤호),Jin Bae Park(박진배) 대한전기학회 2006 대한전기학회 학술대회 논문집 Vol.2006 No.7
In this paper, We present the wavelet neural network (WNN) controller as an active queue management(AQM) in end-to-end TCP network. AQM is important to regulate the queue length and short round trip time by passing or dropping the packets at the intermediate routers. As the role of AQM, the WNN controller adaptively controls the dropping probability of the TCP network and is trained by gradient-descent algorithm. We illustrate our result that WNN controller is superior to PI controller via simulations.